We cannot imagine doing this on our own or with a large group. Our guide, David, was laid back and very knowledgeable. He made sure that we arrived at Pena Palace when it first opened. And he was right. By the time we left, it was very crowded, and the line snaked forever. After the castle, we spent time in the enormous gardens, then had lunch at a tiny restaurant that was superb. We would never have found this on our own. Then on to Cabo da Roca, the western-most point on the European continent, and finally a long stop in the lovely resort town of Cascais, where we had free time to explore on our own, before returning to Lisbon. This was a highlight of our 2-week trip to Portugal. Thank you, David!